Navigator: Avoid attitude stepoint resets by not going into Takeoff mode if VTOL_Takeoff is selected in-air

[sfuhrer]

Solved Problem

Attitude resets happening when switching to Mission mode with VTOL_Takeoff selected in-air.

Chain:

• Navigator sets the type to SETPOINT_TYPE_TAKEOFF for one sample
• FW position controller goes into _control_mode_current= FW_POSCTRL_MODE_AUTO_TAKEOFF
• FW position controller executes control_auto_takeoff() --> resets integrals here

Solution

Navigator: Avoid attitude stepoint resets by not going into Takeoff mode if VTOL_Takeoff is selected in-air

Changelog Entry

For release notes:

Bugfix: Navigator: Avoid attitude stepoint resets by not going into Takeoff mode if VTOL_Takeoff is selected in-air.

Test coverage

SITL

Context

Reproducible in SITL (start mission with VTOL_Takeoff, change mission in-air, re-upload, start mission again).

Without the fix:

With the fix: